SL8500 - RC: 5014: End of Rail ID testing failed, Can Not Init, cmo_user_init_end_of_rail: Scanner Calibration failed, No target found at Endstop Array

Asset ID:	1-72-1486401.1
Update Date:	2012-09-14
Keywords:

Solution Type Problem Resolution Sure

Solution 1486401.1 : SL8500 - RC: 5014: End of Rail ID testing failed, Can Not Init, cmo_user_init_end_of_rail: Scanner Calibration failed, No target found at Endstop Array

Applies to:

Sun StorageTek SL8500 Modular Library System - Version All Versions to All Versions [Release All Releases]
Information in this document applies to any platform.

Symptoms

<p >*Symptoms
<span >Briefly describe the symptoms of the problem. Remember to delete any customer specific information

Robot is in Error state.
Robot is offline

The following return codes were logged aggainst the robot:

5014  "The max or min current was requested an excessive amount of times"
          Failed to straighted robot prior to move
          servo mech track event 5014

5038  "The mechanism is not operational"
          Failed to straighten robot prior to move, track not enabled

5065  "A motor hall error was detected"

A robot sent out a series of warning errors like these:

2012-08-19T09:24:12.236, 1.2.0.2.0, root, hli0, move, 39782410, warn, 3992, "Warning from device", Data=<response sequence="13256102" final="true"><command>moveToPosition</command><result identifier="1"><resultStatus><resultSeverity>warn</resultSeverity><resultCode>5038</resultCode><resultText><!|CDATA|Failed to straighten robot prior to move, track not enabled; End of Text||></resultText><operationalState>000</operationalState></resultStatus><address>1,2,38,2,1</address></result></response>

2012-08-20T11:25:49.502, 1.2.0.2.0, root, hli0, move, 39853990, warn, 3992, "Warning from device", Data=<response sequence="13283199" final="true"><command>putCartridge</command><result identifier="1"><resultStatus><resultSeverity>warn</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|cmo_user_put: Retry Performed 5611; servo mech track event 5014 at 9162 tachs, 16597 mils||></resultText><operationalState>000</operationalState></resultStatus><address>1,2,35,1,11</address></result></response>

2012-08-20T13:05:40.851, 1.2.0.2.0, root, hli0, move, 39867970, warn, 3992, "Warning from device", Data=<response sequence="13288395" final="true"><command>fetchCartridge</command><result identifier="1"><resultStatus><resultSeverity>warn</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|cmo_user_fetch: Retry Performed 5610; cmo_calibrate failed to find target for address (LRCSR) 1,2,21,1,6 after 1 attempts, cmo_status=5; Failed to straighted robot prior to move, result code=0, mech=0; End of Text||></resultText><operationalState>000</operationalState></resultStatus><address>1,2,21,1,6</address></result></response>

Eventually the robot operational state becomes degraded and it requested to be reset:

2012-08-21T05:44:01.717, 1.2.0.2.0, root, hli0, move, 39960040, error, 3955, "Error from device Code: 514 - Robot needs to be reset", Data=<response sequence="13321536" final="true"><command>moveToPosition</command><result identifier="1"><resultStatus><resultSeverity>error</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|servo mech track event 5014 at 73841 tachs, 133764 mils||></resultText><operationalState>514</operationalState></resultStatus><address>1,2,10,1,0</address></result></response>

2012-08-21T05:44:01.771, 1.2.0.2.0, root, hli0, move, 39960040, error, 1319, "Robot operation failed Code: 514 - Robot needs to be reset", Data:=<response sequence="13321536" final="true"><command>moveToPosition</command><result identifier="1"><resultStatus><resultSeverity>error</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|servo mech track event 5014 at 73841 tachs, 133764 mils||></resultText><operationalState>514</operationalState></resultStatus><address>1,2,10,1,0</address></result></response> volumeLabel=440434~R hliLsm=1

Initialization failed and the robot went offline on the SLC:

2012-08-21T14:21:33.694, 1.2.0.2.0, root, default, internal, 0, error, 3955, "Error from device Code: 512 - Robot can not go operational", Data=<response sequence="13336502" final="true"><command>initialize</command><result identifier="1"><resultStatus><resultSeverity>error</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|DIRECTOR End of Rail Init: End of Rail ID testing failed, cannot init, cmo_user_init_end_of_rail: Scanner Calibration failed, No target found at Endstop Array. Possible Scanner failure or a Bad Target or a missing Array cmo_calibrate failed to find target||></resultText><operationalState>512</operationalState></resultStatus><atEndOfRail>false</atEndOfRail></result></response>

2012-08-21T14:21:33.863, 1.0.0.0.0, root, default, internal, 0, error, 3215, "Robot initialization error - Data: 2012-08-21T14:21:33.856, 1.2.0.2.0, root, default, internal, 0, error, 1302, "Failure from robot Code: 512 - Robot can not go operational", Data:=<response sequence="13336502" final="true"><command>initialize</command><result identifier="1"><resultStatus><resultSeverity>error</resultSeverity><resultCode>5014</resultCode><resultText><!|CDATA|DIRECTOR End of Rail Init: End of Rail ID testing failed, cannot init, cmo_user_init_end_of_rail: Scanner Calibration failed, No target found at Endstop Array. Possible Scanner failure or a Bad Target or a missing Array cmo_calibrate failed to find target||></resultText><operationalState>512</operationalState></resultStatus><atEndOfRail>false</atEndOfRail></result></response>"

Note: A tape in the robot hand may have caused the scanner calibration failure.

Changes

no known change

Cause

A tape stuck in the robot hand may cause scanner calibration failure during robot initialization. As a result the robot may fail to complete its initialization sequence and eventually vary offline.

There could also be a problem with the robot scanner or a bad target.

Solution

1. Try rebooting the robot from the SLConsole.
2. If the reboot fails to complete, ask the field engineer to:
   - check for a tape stuck in the robot hand
   - check for tapes in the drop off slots
     - run diagnostic tests on the robot
     - replace robot if it fails to pass the diagnostic tests
     - if robot passes the diagnostic tests, run put and fetch operations on known source and destination addresses
        where robot is known to have failed earlier. (This is to rule out problems like target or track issues.)

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